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Diffstat (limited to 'PhysX_3.4/Source/Common/src/CmVisualization.cpp')
| -rw-r--r-- | PhysX_3.4/Source/Common/src/CmVisualization.cpp | 159 |
1 files changed, 159 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/Common/src/CmVisualization.cpp b/PhysX_3.4/Source/Common/src/CmVisualization.cpp new file mode 100644 index 00000000..3fdfec85 --- /dev/null +++ b/PhysX_3.4/Source/Common/src/CmVisualization.cpp @@ -0,0 +1,159 @@ +// This code contains NVIDIA Confidential Information and is disclosed to you +// under a form of NVIDIA software license agreement provided separately to you. +// +// Notice +// NVIDIA Corporation and its licensors retain all intellectual property and +// proprietary rights in and to this software and related documentation and +// any modifications thereto. Any use, reproduction, disclosure, or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA Corporation is strictly prohibited. +// +// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES +// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO +// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, +// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. +// +// Information and code furnished is believed to be accurate and reliable. +// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such +// information or for any infringement of patents or other rights of third parties that may +// result from its use. No license is granted by implication or otherwise under any patent +// or patent rights of NVIDIA Corporation. Details are subject to change without notice. +// This code supersedes and replaces all information previously supplied. +// NVIDIA Corporation products are not authorized for use as critical +// components in life support devices or systems without express written approval of +// NVIDIA Corporation. +// +// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved. +// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. +// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. + +#include "foundation/PxTransform.h" +#include "CmPhysXCommon.h" +#include "CmRenderOutput.h" +#include "CmVisualization.h" + +using namespace physx; +using namespace Cm; + +void Cm::visualizeJointFrames(RenderOutput& out, + PxReal scale, + const PxTransform& parent, + const PxTransform& child) +{ + if(scale==0.0f) + return; + + out << parent << Cm::DebugBasis(PxVec3(scale, scale, scale) * 1.5f, + PxU32(PxDebugColor::eARGB_DARKRED), PxU32(PxDebugColor::eARGB_DARKGREEN), PxU32(PxDebugColor::eARGB_DARKBLUE)); + out << child << Cm::DebugBasis(PxVec3(scale, scale, scale)); +} + +void Cm::visualizeLinearLimit(RenderOutput& out, + PxReal scale, + const PxTransform& t0, + const PxTransform& /*t1*/, + PxReal value, + bool active) +{ + if(scale==0.0f) + return; + + // debug circle is around z-axis, and we want it around x-axis + PxTransform r(t0.p+value*t0.q.getBasisVector0(), t0.q*PxQuat(PxPi/2,PxVec3(0,1.f,0))); + out << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY); + out << PxTransform(PxIdentity); + out << Cm::DebugArrow(t0.p,r.p); + + out << r << Cm::DebugCircle(20, scale*0.3f); +} + +void Cm::visualizeAngularLimit(RenderOutput& out, + PxReal scale, + const PxTransform& t, + PxReal lower, + PxReal upper, + bool active) +{ + if(scale==0.0f) + return; + + out << t << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY); + + out << Cm::RenderOutput::LINES + << PxVec3(0) << PxVec3(0, PxCos(lower), PxSin(lower)) * scale + << PxVec3(0) << PxVec3(0, PxCos(upper), PxSin(upper)) * scale; + + out << Cm::RenderOutput::LINESTRIP; + PxReal angle = lower, step = (upper-lower)/20; + + for(PxU32 i=0; i<=20; i++, angle += step) + out << PxVec3(0, PxCos(angle), PxSin(angle)) * scale; +} + +void Cm::visualizeLimitCone(RenderOutput& out, + PxReal scale, + const PxTransform& t, + PxReal tanQSwingY, + PxReal tanQSwingZ, + bool active) +{ + if(scale==0.0f) + return; + + out << t << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY); + out << Cm::RenderOutput::LINES; + + PxVec3 prev(0,0,0); + + const int LINES = 32; + + for(PxU32 i=0;i<=32;i++) + { + PxReal angle = 2*PxPi/LINES*i; + PxReal c = PxCos(angle), s = PxSin(angle); + PxVec3 rv(0,-tanQSwingZ*s, tanQSwingY*c); + PxReal rv2 = rv.magnitudeSquared(); + PxQuat q = PxQuat(0,2*rv.y,2*rv.z,1-rv2) * (1/(1+rv2)); + PxVec3 a = q.rotate(PxVec3(1.0f,0,0)) * scale; + + out << prev << a << PxVec3(0) << a; + prev = a; + } +} + +void Cm::visualizeDoubleCone(Cm::RenderOutput& out, + PxReal scale, + const PxTransform& t, + PxReal angle, + bool active) +{ + if(scale==0.0f) + return; + + out << t << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY); + + const PxReal height = PxSin(angle);//, radius = cos(angle); + + const PxU32 LINES = 32; + + out << Cm::RenderOutput::LINESTRIP; + + const PxReal step = PxPi*2/LINES; + + for(PxU32 i=0; i<=LINES; i++) + out << PxVec3(height, PxCos(step * i), PxSin(step * i)) * scale; + + angle = 0; + out << Cm::RenderOutput::LINESTRIP; + for(PxU32 i=0; i<=LINES; i++, angle += PxPi*2/LINES) + out << PxVec3(-height, PxCos(step * i), PxSin(step * i)) * scale; + + angle = 0; + out << Cm::RenderOutput::LINES; + for(PxU32 i=0;i<LINES;i++, angle += PxPi*2/LINES) + { + out << PxVec3(0) << PxVec3(-height, PxCos(step * i), PxSin(step * i)) * scale; + out << PxVec3(0) << PxVec3(height, PxCos(step * i), PxSin(step * i)) * scale; + } +} + |